Monocular vision ranging method, storage medium, and monocular camera

Abstract

Provided is a monocular vision ranging method, including: calculating a first distance between a target and a monocular camera, based on a geometric relationship between the monocular camera and the target; calculating a second distance between the target and the monocular camera, based on a size ratio of the target to a reference target in a corresponding reference image; evaluating credibilities of the first distance and the second distance, and determining weight values assigned to the first distance and the second distance, respectively, in which, the higher the credibilities are, the higher the weight values are; and calculating a final distance between the target and the monocular camera, based on the first distance, the second distance, and the weight values respectively corresponding to the first distance and the second distance. The present application may realize better, more stable, and wider target detection.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS[0001]This application claims priority to PCT Application No. PCT / CN2020 / 110572, having a filing date of Aug. 21, 2020, which claims priority to Chinese Application No. 201910772025.6, having a filing date of Aug. 21, 2019, the entire contents both of which are incorporated herein by reference.FIELD OF TECHNOLOGY[0002]The following relates to the technical field of intelligent transportation and image processing, and more particularly to a monocular vision ranging method, a storage medium, and a monocular camera.BACKGROUND[0003]At present, vehicles having autonomous driving (AD) functions or advanced driver assistance systems (ADAS) have been introduced to the market, which has greatly promoted the development of intelligent transportation.[0004]In the existing technology, the sensors supporting AD / ADAS mainly include radar, visual camera system, lidar, ultrasonic sensor, and the like, of which, the visual camera system is the most widely used ...

AI Technical Summary

Benefits of technology

The present invention involves a method for ranging using a monocular camera. This method combines two ranging techniques, which improves the reliability of the ranging process. This method can detect targets better, more stably, and at a wider range than previous methods.

Problems solved by technology

However, the monocular cameras have a fatal disadvantage, that is, the distance estimation accuracy is not sufficient (lower than that of the stereo cameras), so it has long been expected to improve the distance estimation accuracy of the monocular cameras.

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